CN109469655B - Quick movement device for oil cylinder and control mode - Google Patents
Quick movement device for oil cylinder and control mode Download PDFInfo
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- CN109469655B CN109469655B CN201811426695.4A CN201811426695A CN109469655B CN 109469655 B CN109469655 B CN 109469655B CN 201811426695 A CN201811426695 A CN 201811426695A CN 109469655 B CN109469655 B CN 109469655B
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- way electromagnetic
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- servo motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20569—Type of pump capable of working as pump and motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/857—Monitoring of fluid pressure systems
Abstract
The invention discloses a quick movement device of an oil cylinder and a control mode, the device comprises an oil tank, a servo motor pump unit, a pipeline structure, a direction control mechanism and a load, wherein a piston rod is arranged in the oil cylinder, the oil cylinder is divided into a rod cavity and a rodless cavity, the load is fixed on the piston rod, the oil tank, the servo motor pump unit, the direction control mechanism, the rodless cavity and the rod cavity are connected through the pipeline structure, the device is also provided with a control and driving system and a detection device, the detection device is fixed on the piston rod and used for detecting the movement position of the piston rod on the oil cylinder, and the control and driving system respectively controls the actions of the servo motor pump unit, the direction control mechanism and the detection device through control signal wires; the control mode is to control the direction control mechanism by the control driving system to realize corresponding actions. The quick oil cylinder movement device and the control mode provided by the invention have the advantages of simple structure, short movement period, quick movement of the piston rod, stable operation and accurate and controllable stop position of the piston rod.
Description
Technical Field
The invention relates to the technical field of control of hydraulic cylinders of mechanical equipment, in particular to a motion device and a control mode for rapidly driving an oil cylinder to move by using a servo motor pump unit as a power unit.
Background
At present, with the maturation and popularization of the servo energy-saving technology, the main stream of hydraulic power units in the market are gradually transited from the conventional constant-volume pump to the asynchronous motor drive to the servo motor pump as the power unit drive. As a hydraulic actuating mechanism-hydraulic cylinder assembly commonly used for hydraulic equipment, the control efficiency and accuracy of the hydraulic actuating mechanism-hydraulic cylinder assembly are further improved along with the progress of hydraulic technology, the stopping accuracy of a piston rod of the hydraulic cylinder assembly is realized by a pressure valve and a flow valve of hydraulic oil pressure and flow of a constant-volume pump driven by a conventional asynchronous motor, and the stopping accuracy of the piston rod of the hydraulic cylinder assembly is realized by the hydraulic oil pressure and flow of a servo motor pump by means of torque rotating speed of the servo motor and a corresponding position ring. The servo motor pump is used as a power unit to drive the oil cylinder to move, and in the high-speed movement process, because the rotating speed of the servo motor is high, the force balance at the two ends of the piston rod of the oil cylinder is required to be achieved in the rapid stopping process, so that the position of the piston rod is difficult to stop accurately, because the rapid braking and even reversing of the servo motor can cause the rapid change of the displacement of the servo pump and even the reverse suction of the oil pipe, the fluctuation and the deviation of the stopping position of the piston rod are easy to cause, as shown in figure 1. The stopping accuracy of the piston rod can be controlled by starting to slow down the servo motor pump unit a long distance before the stopping position of the oil cylinder, but the control can lead to the long movement time of the oil cylinder, as shown in fig. 2.
In order to realize accurate control of the cylinder stop position in the rapid movement process, a servo valve is often used for controlling the movement of a cylinder piston, so that a lot of cost is increased intangibly, and the sensitivity characteristic of the servo motor drive is wasted.
Disclosure of Invention
Aiming at the technical problems, the invention provides the quick oil cylinder movement mechanism and the control mode, which have the advantages of simple structure, short movement period, stable operation and accurate and controllable stop position of the piston rod.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the utility model provides an hydro-cylinder rapid movement device, includes oil tank, servo motor pump unit, pipeline structure, direction control mechanism, load, establishes the piston rod in the hydro-cylinder wherein, and the piston rod divide into the hydro-cylinder to have pole chamber and no pole chamber, and the load is fixed on the piston rod, connects its characterized in that through pipeline structure between oil tank, servo motor pump unit, direction control mechanism, no pole chamber, the pole chamber: the quick oil cylinder movement device is provided with a control and driving system and a detection device, wherein the detection device is fixed on a piston rod and used for detecting the movement position of the piston rod on the oil cylinder, and the control and driving system respectively controls the actions of a servo motor pump unit, a direction control mechanism and the detection device through control signal lines.
The pipeline structure is further divided into an oil suction pipeline, an oil incoming pipeline, a rodless cavity pipeline, a rod cavity pipeline and an oil return pipeline, wherein the oil suction pipeline is connected between the oil tank and the servo motor pump unit, the oil incoming pipeline is connected between the servo motor pump unit and the direction control mechanism, the rodless cylinder pipeline is connected between the direction control mechanism and the rodless cylinder, the rod cylinder pipeline is connected between the rod cylinder and the direction control mechanism, and the oil return pipeline is connected between the direction control mechanism and the oil tank.
The direction control mechanism further comprises a three-position four-way electromagnetic reversing valve, a two-position four-way electromagnetic reversing valve and an overflow valve, wherein the rodless cavity is connected with an A port of the three-position four-way electromagnetic reversing valve through a rodless cavity pipeline, and the rod cavity is connected with a B port of the three-position four-way electromagnetic reversing valve through a rod cavity pipeline;
the oil return pipeline divide into anterior segment oil return pipeline, middle oil return pipeline, terminal oil return pipeline, wherein anterior segment oil return pipeline connects three-position four-way electromagnetic directional valve's T mouth and two-position four-way electromagnetic directional valve's P mouth, two-position four-way electromagnetic directional valve's T mouth is connected through middle oil return pipeline and overflow valve's P mouth, two-position four-way electromagnetic directional valve's A mouth is connected through terminal oil return pipeline and oil tank and overflow valve's T mouth, come oil pipeline and be connected servo motor pump unit and three-position four-way electromagnetic directional valve's P mouth, overflow valve's P mouth is connected through middle oil return pipeline and two-position four-way electromagnetic directional valve's B mouth, overflow valve's T mouth is connected through oil return pipeline and oil tank.
The quick motion control mode of the oil cylinder comprises the quick motion device of the oil cylinder, and the quick motion control mode of the oil cylinder is as follows:
when the piston rod moves rapidly towards the direction of the rod cavity, the control and driving system controls the B end of the three-position four-way electromagnetic reversing valve to be powered on, the P port and the A port of the three-position four-way electromagnetic reversing valve are communicated, the B port and the T port of the three-position four-way electromagnetic reversing valve are communicated, hydraulic oil is sucked into the servo motor pump unit from the oil tank through the oil suction pipeline, is compressed by the servo motor pump unit and then enters the rodless cavity through the oil inlet pipeline, the three-position four-way electromagnetic reversing valve and the rodless cavity pipeline, and return oil flows back to the oil tank from the rod cavity through the rod cavity pipeline, the three-position four-way electromagnetic reversing valve, the front section return oil pipeline, the two-position four-way electromagnetic reversing valve and the tail end return oil pipeline;
when the detection device detects that the position of the piston rod is close to the target stop position S of the oil cylinder, the control and drive system controls the two-position four-way electromagnetic reversing valve and the overflow valve to be powered on, the P port and the B port of the two-position four-way electromagnetic reversing valve are communicated, and the return oil with the rod cavity flows back to the oil tank through the overflow valve; meanwhile, the control driving system controls the servo motor pump unit to control the rotation speed of the servo motor to decrease, and the oil pressure is reduced to P1; at the moment, the oil return bottom pressure of the rod cavity is equal to the pressure P0 of the overflow valve, the load force of the load is G, the friction force between the piston rod and the inner wall of the oil cylinder is f, the stressed area of the rodless cavity of the oil cylinder is S1, and the stressed area of the rod cavity is S2;
the servo motor of the servo motor pump unit reduces the rotating speed to adjust the oil inlet amount and the oil pressure of the rodless cavity, so that the pressure of the hydraulic oil of the rodless cavity of the oil cylinder is P1, and when P×S1=P0×S2+f+G, the piston rod reaches the end position S of the rod cavity;
when the piston rod moves rapidly towards the rodless cavity, the control and driving system controls the end a of the three-position four-way electromagnetic reversing valve to be powered on, the port P of the three-position four-way electromagnetic reversing valve is communicated with the port B, the port A is communicated with the port T, hydraulic oil is sucked into the servo motor pump unit from the oil tank through the oil suction pipeline and is compressed by the servo motor pump unit, oil return flows back to the oil tank from the rodless cavity through the rodless cavity pipeline, the three-position four-way electromagnetic reversing valve and the rod cavity pipeline;
when the detection device detects that the position of the piston rod is close to the target stop position S ' of the rodless cavity, the control and driving system controls the two-position four-way electromagnetic directional valve and the overflow valve to be powered on, the pressure of the overflow valve is P0', the P port and the B port of the two-position four-way electromagnetic directional valve are communicated, return oil of the rodless cavity flows back to the oil tank through the overflow valve, and the return oil bottom pressure of the rodless cavity is equal to the pressure P0' of the overflow valve;
the servo motor of the servo motor pump unit reduces the rotating speed to adjust the oil inlet quantity of the rod cavity, so that the pressure of the rod cavity to the piston rod is P1', and when P1' multiplied by S2=P0 'multiplied by S1+f+G, the piston rod reaches the end position S' of the rodless cavity;
when the piston rod reaches a target stop position S or S', the control and drive system controls the three-position four-way electromagnetic reversing valve to lose power, A, B, P, T of the three-position four-way electromagnetic reversing valve is disconnected, and the piston rod is stopped; meanwhile, the servo motor pump stops singly, the two-position four-way electromagnetic reversing valve and the overflow valve lose electricity, and the T port of the three-position four-way electromagnetic reversing valve is directly communicated with the oil tank.
Compared with the prior art, the invention has the following technical advantages: the invention realizes the direct use of the oil cylinder rapid movement device and the control mode, has the characteristics of simple structure, short movement period, accurate and controllable piston rod position and the like, and can be widely applied to various oil cylinder movement mechanisms.
Drawings
FIG. 1 is a schematic diagram of a first scenario of speed-position motion control of a servo motor under a conventional mechanism;
FIG. 2 is a schematic diagram of a second scenario of speed-position motion control of a servo motor under a conventional mechanism;
FIG. 3 is a schematic diagram of the structure of the present invention;
FIG. 4 is a schematic illustration of the movement of the piston rod toward the rod chamber;
FIG. 5 is a schematic diagram of the control of the piston rod before the stop of its movement to the rod chamber;
FIG. 6 is a schematic illustration of the piston rod stopped in the rod chamber;
FIG. 7 is a schematic diagram of the speed-position motion control of the servo motor of the present invention;
FIG. 8 is a schematic illustration of the movement of the piston rod to the rodless chamber;
FIG. 9 is a schematic diagram of control before stopping movement of the piston rod to the rodless chamber;
fig. 10 is a schematic illustration of the piston rod stopped in the rodless chamber.
In the figure: the oil tank 1, the oil suction pipeline 2, the servo motor pump unit 3, the pipeline structure X, the direction control mechanism Y, the oil return pipeline Z, the oil supply pipeline 4, the three-position four-way electromagnetic directional valve 5, the rodless cavity pipeline 6, the oil cylinder 7, the rodless cavity 8, the control signal line 9, the control and driving system 10, the rod cavity 11, the piston rod 12, the load 13, the detection device 14, the rod cavity pipeline 15, the front-section oil return pipeline 16, the two-position four-way electromagnetic directional valve 17, the middle oil return pipeline 18, the overflow valve 19 and the tail end oil return pipeline 20.
Detailed Description
The invention will be described in further detail with reference to examples of embodiments in the accompanying drawings.
As shown in fig. 3, the oil cylinder rapid movement device of the invention comprises an oil tank 1, a servo motor pump unit 3, a pipeline structure X, a direction control mechanism Y and a load 13, wherein a piston rod 12 is arranged in an oil cylinder 7, the piston rod 12 divides the oil cylinder 7 into a rod cavity 11 and a rodless cavity 8, the load 13 is fixed on the piston rod 12, and the oil tank 1, the servo motor pump unit 3, the direction control mechanism Y, the rodless cavity 8 and the rod cavity 11 are connected through the pipeline structure X, and is characterized in that: the rapid cylinder movement device is provided with a control and driving system 10 and a detection device 14, wherein the detection device 14 is fixed on a piston rod 12 and is used for detecting the movement position of the piston rod 12 on the cylinder 7, and the control and driving system 10 respectively controls the actions of the servo motor pump unit 3, the direction control mechanism Y and the detection device 14 through a control signal wire 9.
As shown in fig. 3, the pipeline structure X is divided into an oil suction pipeline 2, an oil supply pipeline 4, a rodless cavity pipeline 6, a rod cavity pipeline 15 and an oil return pipeline Z, wherein the oil suction pipeline 2 is connected between the oil tank 1 and the servo motor pump unit 3, the oil supply pipeline 4 is connected between the servo motor pump unit 3 and the direction control mechanism Y, the rodless cavity pipeline 6 is connected between the direction control mechanism Y and the rodless cavity 8, the rod cavity pipeline 15 is connected between the rod cavity 11 and the direction control mechanism Y, and the oil return pipeline Z is connected between the direction control mechanism Y and the oil tank 1.
As shown in fig. 3, the direction control mechanism Y includes a three-position four-way electromagnetic directional valve 5, a two-position four-way electromagnetic directional valve 17, and an overflow valve 19, where the rodless cavity 8 is connected to the a port of the three-position four-way electromagnetic directional valve 5 through a rodless cavity pipeline 6, and the rod cavity 11 is connected to the B port of the three-position four-way electromagnetic directional valve 5 through a rod cavity pipeline 15.
As shown in fig. 3, the oil return pipeline Z is divided into a front section oil return pipeline 16, a middle oil return pipeline 18 and a tail end oil return pipeline 20, wherein the front section oil return pipeline 16 is connected with a T port of the three-position four-way electromagnetic directional valve 5 and a P port of the two-position four-way electromagnetic directional valve 17, the T port of the two-position four-way electromagnetic directional valve 17 is connected with a P port of the overflow valve 19 through the middle oil return pipeline 18, an a port of the two-position four-way electromagnetic directional valve 17 is connected with the oil tank 1 and a T port of the overflow valve 19 through the tail end oil return pipeline 20, the oil return pipeline 4 is connected with a P port of the servo motor pump unit 3 and the three-position four-way electromagnetic directional valve 5, a P port of the overflow valve 19 is connected with a B port of the two-position four-way electromagnetic directional valve 17 through the middle oil return pipeline 18, and a T port of the overflow valve 19 is connected with the oil tank 1 through the oil return pipeline Z.
The control mode of the oil cylinder rapid movement is as follows by using the oil cylinder rapid movement device:
as shown in fig. 4, when the piston rod 12 moves rapidly toward the rod cavity 11, the control and driving system 10 controls the B end of the three-position four-way electromagnetic directional valve 5 to be powered, the P port and the a port of the three-position four-way electromagnetic directional valve 5 are communicated, the B port and the T port are communicated, hydraulic oil is sucked into the servo motor pump unit 3 from the oil tank 1 through the oil suction pipeline 2, is compressed by the servo motor pump unit 3, then enters the rodless cavity 8 through the oil inlet pipeline 4, the three-position four-way electromagnetic directional valve 5 and the rodless cavity pipeline 6, and return oil flows back to the oil tank 1 from the rod cavity 11 through the rod cavity pipeline 15, the three-position four-way electromagnetic directional valve 5, the front-stage return oil pipeline 16, the two-position four-way electromagnetic directional valve 17 and the tail end return oil pipeline 20.
As shown in fig. 5, when the detection device 14 detects that the position of the piston rod 12 is close to the target stop position S of the oil cylinder 7, the control and driving system 10 controls the two-position four-way electromagnetic directional valve 17 and the overflow valve 19 to be powered, the port P and the port B of the two-position four-way electromagnetic directional valve 17 are communicated, and the return oil with the rod cavity 11 flows back to the oil tank 1 through the overflow valve 19. Meanwhile, the control driving system controls the servo motor pump unit 3 to control the rotation speed of the servo motor to decrease, so that the oil pressure is reduced to P1. At this time, the oil return bottom pressure of the rod cavity 11 is equal to the pressure P0 of the overflow valve 19, the load force of the load 13 is G, the friction force between the piston rod 12 and the inner wall of the oil cylinder 7 is f, the stress area of the rodless cavity 8 of the oil cylinder 7 is S1, and the stress area of the rod cavity 11 is S2.
As shown in fig. 6, the servo motor of the servo motor pump unit 3 decreases the rotation speed to adjust the oil intake amount and the oil pressure of the rodless chamber 8 so that the hydraulic oil pressure of the rodless chamber 8 of the cylinder 7 becomes P1, and when pxs1=p0×s2+f+g, the piston rod 12 reaches the end position S of the rod-like chamber 11.
As shown in fig. 8, when the piston rod 12 moves rapidly toward the rodless cavity 8, the control and driving system 10 controls the end a of the three-position four-way electromagnetic directional valve 5 to be powered on, the port P and the port B of the three-position four-way electromagnetic directional valve 5 are communicated, the port a and the port T are communicated, hydraulic oil is sucked into the servo motor pump unit 3 from the oil tank 1 through the oil suction pipeline 2, is compressed by the servo motor pump unit 3, then enters the rod cavity 11 through the oil supply pipeline 4, the three-position four-way electromagnetic directional valve 5 and the rod cavity pipeline 15, and returns oil from the rodless cavity 8 to the oil tank 1 through the rodless cavity pipeline 6, the three-position four-way electromagnetic directional valve 5, the front-stage return oil pipeline 16, the two-position four-way electromagnetic directional valve 17 and the tail end return oil pipeline 20.
As shown in fig. 9, when the detection device 14 detects that the position of the piston rod 12 is close to the target stop position S ' of the rodless cavity 8, the control and driving system 10 controls the two-position four-way electromagnetic directional valve 17 and the overflow valve 19 to be powered on, the pressure of the overflow valve 19 is P0', the port P and the port B of the two-position four-way electromagnetic directional valve 17 are communicated, the return oil of the rodless cavity flows back to the oil tank 1 through the overflow valve 19, and the return oil bottom pressure of the rodless cavity 8 is equal to the pressure P0' of the overflow valve 19.
As shown in fig. 10, the servomotor of the servomotor pump unit 3 decreases the rotation speed to adjust the oil intake amount of the rod chamber 11 so that the pressure of the rod chamber 11 against the piston rod 12 becomes P1', and when p1' ×s2=p0 '×s1+f+g, the piston rod 12 reaches the end position S' of the rodless chamber 8.
As shown in fig. 6 and 10, when the piston rod 12 reaches the target stop position S or S', the control and drive system 10 controls the three-position four-way electromagnetic directional valve 5 to be deenergized, the A, B, P, T of the three-position four-way electromagnetic directional valve 5 is disconnected, and the piston rod 12 is stopped. Meanwhile, the servo motor pump stops singly, the two-position four-way electromagnetic directional valve 17 and the overflow valve 19 lose electricity, and the T port of the three-position four-way electromagnetic directional valve 5 is directly communicated with the oil tank 1.
The control mode of the rapid movement of the oil cylinder is shown in a schematic diagram of speed-position movement control of the servo motor in fig. 7, and the control mode has the advantages of short movement period, stable operation and accurate and controllable stop position of the piston rod.
In summary, the invention is shown in the specification and the drawings, the actual sample is prepared and is subjected to multiple use tests, and from the test effect, the invention can achieve the expected purpose, and the practicability is undoubted. The above-described embodiments are merely for convenience of description of the invention and are not to be construed as limiting in form; any equivalent embodiments of local changes or modifications made by the disclosed technology without departing from the scope of the technical features and similar features of the present invention fall within the scope of the present invention, as will be apparent to those skilled in the art.
Claims (1)
1. A quick motion control mode of an oil cylinder is characterized in that: comprises a rapid movement device of an oil cylinder,
the oil cylinder rapid movement device comprises an oil tank (1), a servo motor pump unit (3), a pipeline structure (X), a direction control mechanism (Y) and a load (13), wherein a piston rod (12) is arranged in an oil cylinder (7), the piston rod (12) divides the oil cylinder (7) into a rod cavity (11) and a rodless cavity (8), the load (13) is fixed on the piston rod (12), the oil tank (1), the servo motor pump unit (3), the direction control mechanism (Y), the rodless cavity (8) and the rod cavity (11) are connected through the pipeline structure (X), the oil cylinder rapid movement device is provided with a control and driving system (10) and a detection device (14), the detection device (14) is fixed on the piston rod (12) and is used for detecting the movement position of the piston rod (12) on the oil cylinder (7), and the control and driving system (10) respectively controls the actions of the servo motor pump unit (3), the direction control mechanism (Y) and the detection device (14) through a control signal wire (9).
The pipeline structure (X) is divided into an oil suction pipeline (2), an oil supply pipeline (4), a rodless cavity pipeline (6), a rod cavity pipeline (15) and an oil return pipeline (Z), wherein the oil suction pipeline (2) is connected between the oil tank (1) and the servo motor pump unit (3), the oil supply pipeline (4) is connected between the servo motor pump unit (3) and the direction control mechanism (Y), the rodless cavity pipeline (6) is connected between the direction control mechanism (Y) and the rodless cavity (8), the rod cavity pipeline (15) is connected between the rod cavity (11) and the direction control mechanism (Y), and the oil return pipeline (Z) is connected between the direction control mechanism (Y) and the oil tank (1);
the direction control mechanism (Y) comprises a three-position four-way electromagnetic directional valve (5), a two-position four-way electromagnetic directional valve (17) and an overflow valve (19), wherein the rodless cavity (8) is connected with an A port of the three-position four-way electromagnetic directional valve (5) through a rodless cavity pipeline (6), and the rod cavity (11) is connected with a B port of the three-position four-way electromagnetic directional valve (5) through a rod cavity pipeline (15);
the oil return pipeline (Z) is divided into a front section oil return pipeline (16), a middle oil return pipeline (18) and a tail end oil return pipeline (20), wherein the front section oil return pipeline (16) is connected with a T port of a three-position four-way electromagnetic reversing valve (5) and a P port of a two-position four-way electromagnetic reversing valve (17), the T port of the two-position four-way electromagnetic reversing valve (17) is connected with a P port of an overflow valve (19) through the middle oil return pipeline (18), an A port of the two-position four-way electromagnetic reversing valve (17) is connected with an oil tank (1) and a T port of the overflow valve (19) through the tail end oil return pipeline (20), the oil pipeline (4) is used for connecting a servo motor pump unit (3) with the P port of the three-position four-way electromagnetic reversing valve (5), the P port of the overflow valve (19) is connected with a B port of the two-position four-way electromagnetic reversing valve (17) through the middle oil return pipeline (18), and the T port of the overflow valve (19) is connected with the oil tank (1) through the oil return pipeline (Z);
the control mode of the rapid movement of the oil cylinder is as follows:
when a piston rod (12) moves rapidly towards a rod cavity (11), a control and driving system (10) controls the B end of a three-position four-way electromagnetic reversing valve (5) to be electrified, the P port and the A port of the three-position four-way electromagnetic reversing valve (5) are communicated, the B port and the T port are communicated, hydraulic oil is sucked into a servo motor pump unit (3) from an oil tank (1) through an oil suction pipeline (2), is compressed by the servo motor pump unit (3), enters a rodless cavity (8) through an oil inlet pipeline (4), the three-position four-way electromagnetic reversing valve (5) and a rodless cavity pipeline (6), and return oil flows back to the oil tank (1) from the rod cavity (11) through a rod cavity pipeline (15), the three-position four-way electromagnetic reversing valve (5), a front oil return pipeline (16), a two-position four-way electromagnetic reversing valve (17) and a tail end oil return pipeline (20);
when the detection device (14) detects that the position of the piston rod (12) is close to the target stop position S of the oil cylinder (7), the control and driving system (10) controls the two-position four-way electromagnetic directional valve (17) and the overflow valve (19) to be powered on, the P port and the B port of the two-position four-way electromagnetic directional valve (17) are communicated, and the return oil with the rod cavity (11) flows back to the oil tank (1) through the overflow valve (19); meanwhile, the control driving system controls the servo motor pump unit (3) to control the rotation speed of the servo motor to decrease, and the oil pressure is reduced to P1; at the moment, the oil return bottom pressure of the rod cavity (11) is equal to the pressure P0 of the overflow valve (19), the load force of the load (13) is G, the friction force between the piston rod (12) and the inner wall of the oil cylinder (7) is f, the stress area of the rodless cavity (8) of the oil cylinder (7) is S1, and the stress area of the rod cavity (11) is S2;
the servo motor of the servo motor pump unit (3) reduces the rotation speed to adjust the oil inlet amount and the oil pressure of the rodless cavity (8) so that the hydraulic oil pressure of the rodless cavity (8) of the oil cylinder (7) is P1, and when P×S1=P0×S2+f+G, the piston rod (12) reaches the end position S of the rod cavity (11);
when a piston rod (12) moves rapidly towards the rodless cavity (8), a control and driving system (10) controls the end a of the three-position four-way electromagnetic directional valve (5) to be electrified, the port P and the port B of the three-position four-way electromagnetic directional valve (5) are communicated, the port A and the port T are communicated, hydraulic oil is sucked into the servo motor pump unit (3) from the oil tank (1) through the oil suction pipeline (2), is compressed by the servo motor pump unit (3), enters the rod cavity (11) through the oil inlet pipeline (4), the three-position four-way electromagnetic directional valve (5) and the rod cavity pipeline (15), and returns oil from the rodless cavity (8) to the oil tank (1) through the rodless cavity pipeline (6), the three-position four-way electromagnetic directional valve (5), the front oil return pipeline (16), the two-position four-way electromagnetic directional valve (17) and the tail end oil return pipeline (20);
when the detection device (14) detects that the position of the piston rod (12) is close to the target stop position S ' of the rodless cavity (8), the control and driving system (10) controls the two-position four-way electromagnetic directional valve (17) and the overflow valve (19) to be powered on, the pressure of the overflow valve (19) is P0', the P port and the B port of the two-position four-way electromagnetic directional valve (17) are communicated, return oil of the rodless cavity flows back to the oil tank (1) through the overflow valve (19), and the return oil bottom pressure of the rodless cavity (8) is equal to the pressure P0' of the overflow valve (19);
the servo motor of the servo motor pump unit (3) reduces the rotating speed to adjust the oil inlet amount of the rod cavity (11) so that the pressure of the rod cavity (11) to the piston rod (12) is P1', and when P1' multiplied by S2=P0 'multiplied by S1+f+G, the piston rod (12) reaches the end position S' of the rodless cavity (8);
when the piston rod (12) reaches a target stop position S or S', the control and drive system (10) controls the three-position four-way electromagnetic directional valve (5) to lose electricity, the A, B, P, T of the three-position four-way electromagnetic directional valve (5) is disconnected, and the piston rod (12) is stopped; meanwhile, the servo motor pump stops singly, the two-position four-way electromagnetic directional valve (17) and the overflow valve (19) lose electricity, and the T port of the three-position four-way electromagnetic directional valve (5) is directly communicated with the oil tank (1).
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